User interfaces for robot training

ABSTRACT

In accordance with various embodiments, a user-guidable robot appendage provides haptic feedback to the user.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to and the benefit of U.S. ProvisionalPatent Application No. 61/662,646, filed on Jun. 21, 2012, and No.61/676,586, filed on Jul. 27, 2012, the entire disclosures of which arehereby incorporated herein by reference.

FIELD OF THE INVENTION

The present invention relates, generally, to robot-user interaction androbot training. Various embodiments relate, more specifically, to userinterfaces that facilitate direct physical interaction.

BACKGROUND

Industrial robots perform a variety of tasks involving precise andrepetitive movements and manipulations of physical objects with no oronly minimal human intervention. For example, robots are used tospray-paint automobile parts, weld pieces together, and assembleelectronic devices. Robots may also be used to pick up objects at aparticular location, transport them to a destination location, and putthem down in accordance with particular coordinates e.g., stacking themor placing them into cardboard boxes present at the destinationlocation. A typical industrial robot includes one or more arms withend-effectors designed for a specific tasks, and an associatedcomputer-based controller.

Controllers for existing industrial robots are usually programmed inlanguages that specify exact positions and trajectories for the robotarm(s). During execution of a programmed task, the robot arm moves areference coordinate associated with its most distal link to an exactlyspecified new position, following an exactly specified trajectory. Thesuccess of existing industrial robots is due to their operation inconstrained environments, which allows the person programming therobot—who is usually involved in the process of structuring the robot'sworkspace—to predict, with high confidence, which objects will bepresent in the workspace at all times, and where they will be located.As a result, moving the reference point on the robot arm to particularcoordinates, via particular trajectories, and then operating theend-effector (e.g., opening or closing a gripper of the robot), lead toreal-world actions that achieve the specific task desired of the robot.

Programming conventional industrial robots generally demands a highlevel of technical expertise, and requires the user to think in termsunderstandable by the robot. For example, the programmer may use asix-dimensional vector to specify a reference point in three-dimensionalspace along with the orientation of the most distal link of the robot'sarm. For a robot arm that has six or fewer degrees of freedom, thatvector uniquely determines the settings for all the joints of the robot.If the robot arm has more than six degrees of freedom, furtherspecification of the desired pose of the arm is required to remove anyambiguity.

Recent programming systems for industrial robots have user input layersthat allow the programmer to circumvent the six-dimensional vectors bysetting the end points of the trajectories by physically moving the armto a desired pose and position and then causing the robot to record thatposition. In one approach, this is done by means of a remote, networkedcomputer or an external teaching pendant (i.e., a handheld controlterminal) that is plugged into the robot controller during a teachingphase. A teaching pendant usually includes an LCD screen, a joystick orsimilar steering device, one or more buttons, and sometimes a fullkeyboard (which may be a “soft” keyboard that pops up on a touchscreen), which collectively allow the user to control and move therobot. Another technique involves equipping the most distal link of therobot arm with a load cell (optionally with a handle), and having theuser switch the arm into a mode in which it responds to forces detectedby the load cell, allowing the user to guide the robot arm to a desiredposition by hand. Typically, this requires, first, remotely switchingthe robot from an execution mode, in which it moves in accordance withpreviously programmed tasks, into a training mode, in which it is safefor the user to approach the robot. Second, the robot needs to beswitched into guidable mode, where the user can freely move the robotarm around and record positions, e.g., by pushing a button on theteaching pendant.

Having taught the robot a position or trajectory in this manner, theprogrammer then provides explicit action commands to the robot. Forexample, if the task involves picking up an object, the programmer mayneed to specify the distance by which the robot has to lower itsgripper, the width of the object or the requisite distance between therobot fingers for pick-up, and/or the force that the robot needs toapply to the object to hold it. This step, again, requires theprogrammer to break down even a task as simple as picking up an objectinto discrete steps, and supply precise parameter values for each step.

Once the robot has been properly programmed for a particular task, itcan repeatedly and efficiently execute that task—but none other. Usingthe robot for a different task would essentially require re-programmingit, which is a time-consuming and, thus, costly process. Similarly, anyadjustments to the programmed task, such as a change in a pick-up ordestination location, are cumbersome to implement as they would requireoverwriting previously entered parameters and/or repeating steps of thetraining process. Therefore, conventional industrial robots aretypically designed and employed to perform highly specialized,value-adding tasks in a production process, where substantialinvestments in robot hardware and software are warranted by subsequentcost-savings through automation. More generic tasks that, though oftenmonotonous to a human, have a degree of variability that renders theirautomation with conventional robots cost-ineffective, are usually leftto human laborers.

Accordingly, there is a need for versatile robots that can easily andquickly be trained for new tasks, preferably without requiring specialtechnical skills from the trainer.

SUMMARY

In various embodiments, the present invention provides robots that canbe trained for a variety of tasks via intuitive, human-like interactionsthat do not require special technical expertise. Consequently, therobots can be integrated into production processes quickly andaffordably. In some embodiments, the user interface is embedded in therobot and facilitates direct physical interaction between the robot anduser, eliminating the need for an external teaching pendant or otherremote control. Among other interactions, the robot facilitatesuser-guidance of the robot arm or other appendage (without the need fora load cell), allowing the user to directly grasp the arm and, in someembodiments, also providing haptic feedback to the user while she isholding the arm.

The robot generally operates in a force-controlled mode that allows itto respond to any external forces quickly and in a manner that rendersit safe for the user to approach the robot (even when the robot moves,e.g., to execute a task) in order to switch the robot into trainingmode. In some embodiments, the robot includes a wrist cuff on each ofits arms that, when manipulated (e.g., grabbed) by the user,automatically switches the robot both into training mode as well as intoa zero-force gravity-compensated mode that allows the user to guide thearm manually. The robot remains in this guidable mode until the userreleases the cuff, and does not switch back into execution mode until itreceives an explicit command to do so. The robot may be programmed andconfigured such that, once the user has brought the arm into a desiredposition, she can direct the robot to perform a particular action (e.g.,close the gripper around an object) with the simple push of a button. Inaddition to serving as an input device during training, the robot armmay, when guided by the user, also provide haptic feedback to the user.For example, to avoid self-collision, the robot may exert increasingresistive forces as the user pushes the arm in a direction that wouldresult in potentially harmful contact with another robot part. The arm,when held by the user, may also exert time-variable force patterns (or“haptic signatures”) in response to certain conditions (such as, e.g.,the proximity to a particular type of object) to thereby provideintuitive information to the user.

As part of its user interface, the robot may include touch pads, locatedin various places on its body, that allow it to detect and infer thelocation of a user based on touch, and turn towards the user inresponse. Further, the robot may have several conveniently located,identical sets of mechanical controls (called “navigators”) that allowthe user to change her position, without causing interruptions, duringinteractions with the robot. The robot may also mimic certain humanbehaviors to provide intuitively understandable cues regarding itsinternal state or the next action it intends to take. For example, arobot screen may display eyes that indicate by their gaze the directionin which the robot is about to move, or alert the user by means of apuzzled look that the robot requires further input.

Due to their ease of use, user interfaces in accordance herewith pose acomparatively low barrier for training and re-training robots for newtasks, and, consequently, they can be deployed economically in manycircumstances where conventional robots would be cost-prohibitive.Advantageous uses of robots according to various embodiments include,for example, the automated performance of simple tasks that are highlyrepetitive, monotonous, and often non-ergonomic (and, thus, generallyunhealthy for a human to do).

In one aspect, the present invention is directed to a robot including amovable robot appendage having a cuff disposed at the distal end of theappendage (i.e., the free end away from the robot). The cuff includes apressure-sensitive switch (e.g., including a flexible resistor ormicro-push-button switch) and, disposed thereover around the cuff, apressure-spreading layer (e.g., including or consisting essentially offlexible rubber) for transferring externally applied pressure to theswitch. In some embodiments, the cuff also includes a plurality ofpressable buttons on each of two opposing sides of the cuff. The buttonsmay be distinguishable by touch; for example, one button may be convexand the other concave, and/or one may be circular and the othercircular. The robot further includes circuitry responsive to pressureapplied to the switch when the cuff is grasped, which causes the robotto operate in a zero-force gravity-compensated mode in which theappendage moves substantially without resistance in response to forcesapplied to the cuff. In some embodiments, the robot is alternatelyoperable in a training mode in which the robot learns and storesparameters relating to a task or an execution mode in which the robotexecutes a task in accordance with previously stored parameters; thecircuitry may in this case, in response to pressure applied to theswitch, also cause the robot to operate in training mode.

In another aspect, the invention is directed to a robot capable ofdirect interaction with a user. The robot includes a body with a torsoand, attached thereto, a head and at least one appendage. Integratedinto the robot body is a user interface including at least a visualdisplay for conveying information to the user, one or more cameras foracquiring images of an environment of the robot, and one or moremechanical input devices responsive to at least one of touch ormechanical actuation. The robot further has a processor for processinginput acquired by the user interface and, based thereon, controlling theappendage(s) and/or the visual display. The user interface may beconfigured to facilitate programming and/or training the robot (withoutrequiring additional input devices external to the robot). The robot mayalso include a base with a portion that can be flipped and contributesdifferent amounts to the height of the base, depending which side of theportion points up and which down.

In some embodiments, the visual display is configured to display,alternately or simultaneously in different portions of the display, animage captured by the camera(s), a graphical user interface, and/orcomputer graphics showing a facial expression. Via the facialexpression, the robot may provide intuitive information to the user; forexample, it may signal where it is going to move by the direction inwhich its eyes look. In some embodiments, the mechanical input device(s)include(s) multiple identical navigators (i.e., sets of mechanicallyactuated elements or other user controls), e.g., placed on two sides ofthe torso and on each of the appendages. The navigators may beconfigured collectively such that a series of user inputs provided viamultiple of the navigators causes the same response as the series ofuser inputs provided via a single one of the navigators. In someembodiments, mechanical input devices are disposed in differentlocations on the robot, and the processor is configured to cause therobot to turn toward an estimated location of the user (e.g., by turningthe visual display to face the user and/or moving one of the appendagestoward the user) in response to user manipulation of one of themechanical input devices and based on the location of the manipulatedinput device. The robot may, for example, include touch pads disposed onboth shoulders, and/or wrist cuffs attached to the appendages at theirdistal ends.

In another aspect, the invention provides a robot, configured forinteraction with a user, which includes a plurality of user inputdevices disposed in different locations on the robot, and a processorfor causing the robot, in response to input provided via any of the userinput devices and based on a location thereof, to turn toward anestimated location of the user.

In yet another aspect, the invention a robot (also configured forinteraction with a user) that includes a robot body having a torso and ahead and one or more appendages attached to the torso, a plurality ofidentical navigators for receiving input from a user, and a processorfor processing the input and, based thereon, controlling an action ofthe appendage(s). The navigators are disposed in different locations onthe robot, and are, collectively with the processor, configured suchthat a series of user inputs provided via multiple of the navigatorscauses the same action as the same series of user inputs provided via asingle one of the navigators.

In a further aspect, a robot-user interaction method is provided. Themethod includes the step, following manipulation of a first one ofmultiple identical navigators disposed in different locations on therobot, of causing execution of an action in accordance with themanipulation of the first navigator, and the step, following subsequentmanipulation of a second one of the identical navigators, of causing therobot to continue execution of the action in accordance with themanipulation of the second navigator.

Another aspect relates to a robot with one or more user-guidable robotappendages for manipulating objects (each of the appendages includingone or more movable joints) and a haptics module for generating forcesat the joint(s). The haptics module, which may be implemented inhardware (including the hardware ordinarily used to apply forces to thejoints) and/or software, is configured to at least partially resistuser-guiding of the at least one appendage within a specified spatialzone around other parts of the robot so as to prevent collisions betweenthe appendage and the other parts of the robot. The forces generated bythe haptics module may depend (linearly or non-linearly) on the distancebetween the appendage and the other parts of the robot, and/or on thedirection or speed of motion of the appendage. In certain embodiments,the forces increase as the appendage moves closer to the other parts ofthe robot.

The invention also provides, in one aspect, a robot-implemented methodfor providing haptic feedback to a user guiding an appendage of therobot. The method involves, upon entry of the appendage into a specifiedspatial zone around other parts of the robot, at least partiallyresisting user-guiding of the appendage by generating a resistive forcethereat so as to prevent collisions between the appendage and the otherparts of the robot. The magnitude of the resistive force may depend onthe distance of the appendage from the other parts of the robot and/orthe direction or speed of motion of the appendage.

In a further aspect, various embodiments of the invention provide arobot having a user-guidable robot appendage including an end-effectorfor manipulating objects, a haptics module for generating forces at theend-effector, and a control system for monitoring a real or simulatedenvironment for presence of one or more environmental conditions (e.g.,the presence of the robot at a specified location or the presence of aspecified object in a field of view of a robot camera) with respectiveassociated haptic signatures. In response to detection of one of theenvironmental conditions, the control system causes the haptics moduleto generate a time-varying force in accordance with the haptic signatureassociated with the detected environmental condition. The robot mayfurther include a training module configured to associate hapticsignatures with respective environmental conditions.

In another aspect, the invention is directed to a robot-implementedmethod for providing haptic feedback to a user guiding an end-effectorof the robot, which method involves generating, in response to thedetection of a real or simulated condition, a time-varying force at theend-effector in accordance with a haptic signature associated with thedetected condition.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing will be more readily understood from the followingdetailed description of the invention, in particular, when taken inconjunction with the drawings, in which:

FIG. 1 is a block diagram illustrating a system in accordance withvarious embodiments;

FIGS. 2A and 2B are perspective views of a robot in accordance withvarious embodiments;

FIGS. 3A-3D are perspective views of a robot gripper in accordance withvarious embodiments;

FIG. 4A is an exploded view of a robot base in accordance with variousembodiments;

FIGS. 4B and 4C are perspective views of the robot base of FIG. 4A intwo configurations in accordance with various embodiments;

FIGS. 4D and 4E are transparent side views of the flippable portion ofthe robot base of FIG. 4A in two configurations in accordance withvarious embodiments;

FIG. 5 is a perspective view of a navigator in accordance with variousembodiments;

FIG. 6 is a perspective view of a wrist cuff in accordance with variousembodiments; and

FIG. 7 is a block diagram illustrating an implementation of thecomputational and control functionality of a robot in accordance withvarious embodiments.

DETAILED DESCRIPTION

Robots in accordance with the present invention can generally operate intwo modes: a training mode in which the robot learns via sensory anduser input how to perform certain tasks, and a task-execution modeduring which the robot autonomously carries out the tasks optionallybased in part on the robot's perception of its environment via sensors,but without direct user interaction. Herein, the term “training” is usedbroadly, and is intended to encompass both dedicated training sessionsthat precede execution of the tasks for which the robot is being trainedand interruptions of task execution in situations where further userinformation and/or feedback supplements previously received training(e.g., because the situation encountered was not anticipated during thetraining session).

In various embodiments, the present invention provides robot-userinterfaces that facilitate robot training via direct interactionsbetween the robot and the user. Some components of the interface arededicated user input/output devices, whereas others have functionsindependent of user interactions, but secondarily serve as input and/oroutput devices in certain circumstances. FIG. 1 conceptually depicts themain functional system components of robots in accordance with variousembodiments; components that are part of the user interface, i.e.,facilitate information exchange with the user, are indicated by thickeroutlines.

The robot includes one or more appendage(s) 100, typically includingend-effectors such as parallel dual-finger grippers, suction cupgrippers, or multi-fingered dexterous hands, for manipulating and movingobjects or performing other useful work. The appendages 100 usuallyinclude multiple links connected via movable joints, such as hinges orrotary joints. Movement of the appendage(s) 100 is controlled by one ormore controllers 102, which generally include a higher-level robotcontroller 104 that monitors and alters robot positions, kinematics,dynamics, and forces, and, in communication with and accepting commandsfrom the high-level controller 104, one or more joint-level controllers106 that drive the individual motors and actuators associated with thejoints to move the appendage(s) 100 or other moving parts of the robotas directed. The appendage(s) 100 may also have one or more integratedforce sensors 108 that measure forces applied externally to theappendage (e.g., by a user when he guides a robot arm).

The robot typically also includes one or more cameras 110, or otheroptical sensors, for visually perceiving its environment, both duringtraining and during task-execution. Further, the robot may utilize othertypes of sensors 112, such as pressure sensors, temperature sensors,sonar sensors, accelerometers, gyroscopes, etc., to acquire informationabout its environment and/or its own state. For example, the robot mayuse a ring of sonar sensors to detect objects or people nearby, andaccelerometers or gyroscopes to keep track of the locations andorientation of its body and appendages.

In addition to such general sensory input, the robot can also receiveinput from a user. For that purpose, it may include user-manipulablemechanical controls 114, such as buttons, dials, sliders, etc.,touch-sensitive pads 116, and similar controls that allow a user tointeract with the robot via direct physical contact. The robot appendage100 itself may serve as such a mechanical input device if it is equippedto detect forces exerted and/or positional changes caused by the user.In certain implementations, the user may also provide visual input,e.g., by gesturing within the camera's field of view; thus, thecamera(s) 110 may be part of the user interface. Finally, the robot mayinclude traditional user input devices, such as mouse and keyboard,and/or audio input devices like microphones (not shown). To facilitateinformation flow in the reverse direction, from the robot to the user,the robot may have one or more visual output devices such as a screen118 for displaying text and/or images, and/or audio output devices suchas speakers. Furthermore, the appendage 100 may serve as an outputdevice: as the user moves the appendage 100, e.g., holding anend-effector, he may experience haptic feedback, i.e., forces generatedinternally by the robot to either independently move the appendage 100or resist movement by the user.

At the heart of the robot is a computational facility 114 that processessensory and user input, and controls the robot's movements as well asinformation and signal flow to the output devices. The computationalfacility 114 may be embedded in the robot, or provided remotely and incommunication with the robot via wired or wireless links. As explainedin more detail below, the computational facility 114 may executedifferent program modules based on its mode of operation. For example, atask-execution module 120 may contain instructions for the autonomousperformance of tasks by the robot based on sensory input, whereas atraining module 122 may govern user interactions and robot learning. Thetask-execution and training modules 120, 122 may be linked by, andinteract through, a set of shared data structures that are createdand/or populated during the training phase and subsequently used duringthe task-execution phase. This way, the computational facility 114 andthe user interface together may facilitate training the robot forspecific tasks via intuitive, task-centered interactions. However, thevarious user-interface components described herein can also be used totrain conventional industrial robots (e.g., by guiding an appendage ofthe robot along a desired trajectory that is recorded by the robot forlater use), and need not be combined with the specific architecturedescribed herein.

FIGS. 2A and 2B show a robot 200 in accordance with one exemplaryembodiment hereof. The robot 200 has a humanoid appearance: it includesa body (or torso) 202, head 204, and two arms 206 with grippers 208attached at their ends. Each arm includes seven links and a wrist 209 atits distal end. The links are connected to each other and the robot body202 via seven joints that collectively provide seven degrees of freedomfor the motion of the arm 206. As indicated by arrows in FIG. 2A, eachjoint either provides a hinge that allows an angle to vary between twolinks (i.e., allowing the links to rotate around an axis through thejoint that is perpendicular to the axes of the links), or facilitatesrotation of the more distal link around its axis. The robot 200generally operates in force-control mode, not in position-control modeas many conventional industrial robots. In position-control mode, therobot arms receive commands to move (often very fast) to specifiedspatial coordinates, regardless of any external forces they mayencounter on their trajectories, rendering it generally dangerous toenter the robot's workspace while the robot is moving. In force-controlmode, by contrast, actuators apply specified forces to the joints. Whilethe forces may be calculated to cause movement of the arm(s) to certainspatial locations and/or along certain trajectories, the planned motionwill generally be interrupted when the robot experiences unexpectedexternal forces. Thus, force-control mode enables, e.g., a collisiondetection behavior executed on the robot to halt motion in case offorces resulting from unexpected collisions. In the exemplary robot 200,series elastic actuators (SEAs) in the joints serve to apply forces asdirected by the joint-level controllers 106, as well as to measure theforces at the joints for feedback control, collision detection, and toestimate any force applied to the wrist 209 of the arm 206 externally(e.g., by a user). SEAs are described in detail in, for example, U.S.Pat. No. 5,650,704, issued on Jul. 22, 1997, the entire disclosure ofwhich is hereby incorporated herein by reference.

The robot's grippers 208 may be any end-effector(s) suited to robotoperation in a particular application. In some embodiments they aremechanical grippers, e.g., each including two or more fingers extendingparallel to each other from the wrist 209 and having a variable,mechanically adjustable distance from each other. Alternatively, thegrippers 208 may be suction grippers connected via tubing to a unitwithin the robot that converts pressurized air from an external sourceconnected to the unit into suction. Other types of grippers are alsowithin the scope of the invention. The grippers 208 may be easilydetachable from the arms 206 (or wrists 209) allowing the user toreadily exchange them for other types of grippers or grippers ofdifferent dimensions. For example, in some embodiments, as illustratedin FIGS. 3A-3D, a generic finger transport mechanism 300, or simplehand, may be attached to the wrist, and then fingers 302 of varyingshapes and sizes may simply be screwed (FIG. 3B) into slidable elements304 of the hand 300 at one of multiple positions (see FIG. 3A)corresponding to different maximum finger separations, and theirdistance d thereafter adjusted via the slidable elements 304. Thefingers 302 may be equipped with stops 306, grasp elements 308, or otherparts that facilitate engaging with and picking up an object 310. Thestops 306 serve to halt the gripper's downward motion once they contactthe object 310, e.g., such that the fingers are aligned at a particularpart of the object or such that contact between the “palm” of the hand300 with the object 310 is prevented (e.g., to avoid scratching). Thegrasp elements 308 may come in different varieties and provide differentgrasp surfaces suitable for various materials, weights, etc. of theobject 310.

Referring again to FIGS. 2A and 2B, the robot body 202 is mounted on abase 210, which may be fixed, rollable, or otherwise movable, dependingon the needs of the particular application and environment in which therobot 200 is used. The vertical position of the robot's body 202 may beadjustable via different heights of the base 210. In some embodiments,the base 210 includes two parts that are vertically movable relative toeach other, allowing the height to be adjusted continuously within acertain range. In other, simpler embodiments, illustrated in FIGS.4A-4E, the base 210 has a fixed height when assembled, but includes aportion 400 that can be flipped horizontally and is shaped such that itadds different height to the base 210 depending on which surface pointsup and which down. This flippable portion 400 may be manufactured as asingle molded piece, and adds little to the cost of the robot whileaccommodating two different working levels of the robot. The flippableportion 400 may be mounted onto a post 402. For example, as illustrated,the portion 400 may be slid over the post 402 and affixed to it withscrews. FIGS. 4B and 4C show the base 210 at the two heightscorresponding to the two orientations of the flippable portion 400, andFIGS. 4D and 4E provide transparent close-up views of the flippableportion 400. In the high configuration (FIGS. 4B and 4D), the flippableportion 400 overlaps only slightly with the post 402, adding the largerpart of its height h to the overall height of the base 210. In the lowconfiguration (FIGS. 4C and 4D), the flippable portion 400 overlapssignificantly with the post 402, adding only minimally, if at all, tothe overall height of the base 210.

The robot's user interface may be wholly or partially embedded in therobot's body 202, head 204, and arms 206. In certain embodiments, allaspects of robot training can be accomplished via controls built intothe robot, eliminating any need for external training pendants or remotecontrols. The user interface and the robot's behavior may mimic humanbehavior to a large extent, allowing a user without a high level oftechnical expertise to quickly familiarize himself with the robot 200,interact with the robot via simple physical interaction (e.g., byguiding the robot's arm), and interpret and/or anticipate its actionsbased on intuitive visual, haptic, or other cues. In addition, the robot200 may include a more traditional user interface with menus, text entryfields, etc., that provide information about and allow manipulation ofthe robot's state in a language familiar to the technically versed user.

In the embodiment illustrated in FIGS. 2A and 2B, the robot has a screen212 (e.g., an LCD screen) integrated into its head 204, which can rotateabout a vertical axis and nod about a horizontal axis running parallelto the screen 212. The screen 212 sometimes displays a face, andsometimes text, menus, icons, spatial maps, and images from the robot'scameras, in various combinations. The robot 200 may choose what todisplay at any time based on its current mode, internal state, trainingstage, and/or particular triggers in its environment. When showing aface, the robot may convey information to a human trainer in a way thathumans intuitively understand. For example, in response to user inputthat is incomplete, the robot may display a puzzled look to prompt thetrainer to provide clarification; the robot may additionally provideauditory cues. The robot may also follow the user, or an object ofinterest, with its eyes, thereby signaling what it is currently focusedon. Other types of screen displays may likewise facilitate communicatingwith the user in an intuitive manner. For example, the robot may sendlive video frames to the screen 212, overlaid with graphics thatillustrate how the robot is interpreting what it “sees.” In addition tothe screen 212, the robot may include other visual indicators, such as,e.g., a ring of status lights 214 in its head 204 above the screen 212.The status lights may blink, change color, etc. to inform the user ofthe robot's state. For instance, the status lights may blink to indicatethat the robot is awaiting further input, or change from yellow to redto visually alert the user of a danger or error condition.

The robot 200 includes five cameras. One camera 216 is located in eachof the two wrists 209 so that the robot 200 can “see” objects it isabout to pick up and adjust its grippers 208 accordingly. Further, therobot has two cameras 218, side by side, in its chest to provide awide-angle view of the workspace and allow the robot 200 to visuallydetect equipment or objects to be manipulated. Finally, the robot 200has a camera 220 above the screen 212; the camera 220 is orientedoutwards to detect people in the environment. In some embodiments, thecameras—in addition to continuously monitoring the environment forpeople and objects—serve as a visual user input device. The user may,for example, point at an object of interest in the workspace,demonstrate how the robot should grasp the object, or make certaingestures the robot is programmed to recognize (such as “stop,” “move tothe left,” etc.). The robot 200 may also include range sensors in eachwrist, and a ring of sonar sensors in its head (e.g., integrated withthe status lights 214) that are used to detect moving objects in theenvironment; see copending U.S. patent application Ser. No. 13/456,915,filed on Apr. 26, 2012 and hereby incorporated by reference.

In addition to these sensors for visually and/or acoustically detectingobjects, the robot 200 may include a number of touch-sensitive sensorsand mechanical features on its arms 206 and body 202 that facilitatemechanical interaction with a person (e.g., a trainer). For example, asillustrated in FIG. 2B, the robot 200 has two touch pads 230,symmetrically located on the robot's shoulders. By tapping either one ofthe touch pads 230, a user can get the robot's attention, even when shecomes up behind the robot, and further indicate on which side sheintends to stand when training the robot. The robot 200 may respond byturning its screen 212 towards the user and presenting one of its arms206 on the user's side, allowing her to easily reach the gripper 208.Other physical user interaction elements on the robot's arms 206 andbody 202 may, similarly, serve to inform the robot 200 of the user'slocation. For example, if the user guides one of the robot's arms by atouch-sensitive cuff around its wrist 209, the robot 200 assumes thatthe user is located in the direction in which the wrist 209 and gripper208 are pointing. In general, the robot estimates where the trainer isstanding based on the most recently touched interaction element, using athree-dimensional self-model that tracks where the interaction elementsare. (Such three-dimensional self-models are well-known to persons ofskill in the art. In brief, the robot continuously tracks the amount ofrotation in each of its joints, and uses this information, along with akinematic model of the relative positions of the joints, to compute thethree-dimensional position and the three-dimensional orientation of eachrobot part.) This functionality enables the robot to orient its screen212 to continuously face the user and follow the user around as shemoves within the robot's workspace. Such capability is useful, forexample, when the user, after moving around the robot to guide robot'sarm 206 to a desired location, needs to view the screen 212: instead ofstepping back to her previous location to view the screen 212, the usermay simply tap a nearby touch pad 230, causing the robot to turn itsscreen 212 toward her.

To further increase user convenience during interactions with the robotand allow the user to freely change her position relative to the robot,even in mid-interaction, the robot 200 may have multiple copies of oneor more types of interaction elements in different locations on therobot. For example, the illustrated robot 200 includes four identicalsets 232 of mechanical controls (each set collectively called a“navigator”) on its arms, chest, and back, at least one of which isaccessible, regardless whether the user stands in front of, behind, orto the side of the robot. As illustrated in FIG. 5, each navigator 232may include, for example, a central knob 500 and two buttons 502, 504,above and below the knob 500. The upper and lower buttons 502, 504 mayhave different meanings and uses, and these may be varied andre-assigned by the designer or, in some embodiments, by the user. Thecentral knob 500 may be a continuous digital knob with push capability.The navigators 232 allow the user to respond to information displayed onthe screen 212 (e.g., by selecting menu items, switching betweentraining and execution mode) and enter numbers (e.g., to indicate in howmany rows and columns objects are to be packed in a box) or text (e.g.,passwords or object and task names) via the digital knob 500. In someembodiments, the functions of the knob 500 and/or buttons 502, 504 arecontext-dependent, i.e., they change depending on the training stage,the input required by the robot, etc. For example, one of the buttonsmay initially serve to switch the robot into training mode, and later beused to answer a question posed by the robot (and, for instance,displayed on the screen) in the affirmative, while the other button maybe used to answer in the negative. The navigators may also include lightelements 506 (for example, blue lights arcing around the top and bottombuttons, and a white light surrounding the central knob), which turn onunder certain conditions during training, and may provide an indicationof the present function of the buttons and knob. Of course, the specificnavigator embodiment described herein is only one example of a set ofmechanical control elements; many other combinations and configurationsof one or more control elements and indicator features are conceivableand within the scope of the present invention.

At any given time, all of the navigators 232 have the same function.Thus, the trainer can use any of them for robot training, and can switchto another one at any time simply by using it. The robot 200 responds touser input provided sequentially via two or more of the navigators 232in the same manner as it would respond to the same input if provided viaa single one of the navigators 232, even if the pieces of input belongto a single transaction. This can be useful, for example, when the user,while training the robot from the front on the appearance of an object,realizes that he is in the way of the lighting, and therefore walksaround behind the robot to complete the training using one of thenavigators on the side of the robot. As another example, if the user,having trained the robot to lift an object using a navigator on the arm,moves the robot arm out to his own arm's reach, he may not be able tosee the navigator any more since it is now on top of the robot arm, andtherefore switch to a navigator on the side of the body. The two cuffsaround the wrists 209 (described further below) may, similarly, beconfigured and function in the same way, allowing the user to switchbetween the left and right robot arms 206 as is convenient. Multipleidentical navigators 232, wrist cuffs, or other user interactionelements thus facilitate seamless interactions while providing the userwith great flexibility to choose her position relative to the robot 200.

When training the robot 200, the user often guides the robot's arm 206to a desired position and/or adjusts the gripper 208. For example, theuser may show the robot how to grasp an object with a mechanical gripperincluding two fingers by positioning the gripper around the object, withone finger to each side of the object, and then pushing the fingerstoward each other until they contact the object or, alternatively,simply pushing a button to cause the gripper to close until itexperiences a resistive force from the object. To facilitate such directmechanical interaction and user-guidance of the arm 206, the arm 206 mayhave a wrist cuff designed to be grasped by the user, optionally withbuttons or other mechanical controls.

In one embodiment, as shown in FIG. 6, the wrist cuff 600 forms a bandaround the wrist 209, right below a circular plate 602 that marks theend of the arm 206. Below the cuff 600, a camera 216 and range finder606 are built into the wrist 209. The cuff 600 is designed to be graspedfrom the left or the right, in either case with the thumb on one sideand the index and middle fingers on the other side. The cuff 600 mayhave two buttons 608, 610 on each side, located so as to be convenientlyoperable by the user's middle finger. The buttons may 608, 610 bedesigned to be recognizably distinct from touch; for example, one buttonmay have a convex elongated shape while the other one may have a concavecircular shape. In the illustrated embodiment, the circular button 610is more distal for a right-handed grasp, and the elongated button 608 ismore distal for a left-handed grasp, regardless from which side the cuff600 is grasped. When the cuff 600 is grasped in the natural way (i.e.,as intended), the user's thumb and index finger are above these twobuttons 608, 610.

The cuff 600 has integrated touch or pressure sensors, such as, e.g.,one or more flexible resistors or push-button switches, that (inconjunction with software executed on the robot) can detect when a usergrasps it. The cuff 600 may be covered with flexible rubber that spreadsthe pressure so that simply grabbing the cuff activates the switch. Thesensors and the control program may be configured to distinguish adeliberate grasp from an accidental physical contact with the wrist.Triggering conditions for activation of the switch may include, forexample, that pressure is exerted on both sides of the wrist (as it iswhen the cuff 600 is grasped with the thumb and index finger), exceeds aspecified threshold value, or persists for a specified time. With suchconditions in place, contact that does not amount to a grasp, such as anaccidental brief stroke, will generally not activate the switch.

In various embodiments, the computational facility 114 causes the robotto automatically switch into zero-force gravity-compensated mode when auser grabs the arm 206 by the wrist cuff 600. (Operating the robot inforce-control mode renders it feasible and safe for the user to grab thearm 206 at any time, including in mid-motion, because the arm 206 canimmediately respond to the unexpected force, even before the cuff isactivated.) In zero-force gravity-compensated mode, the robot controller104 operates the robot arm so as to act like a set of links withlow-friction bearings at each joint while compensating for gravity sothat the arm does not drop to the lowest possible configuration (butinstead acts as if it were in outer space). To accomplish gravitycompensation, the controller 104 takes account of the instantaneouskinematic configuration of the robot, based on a detailed internallystored, digitally represented model of the robot's mass distribution,and applies torques to each joint to counteract gravity for all linksdistal to that joint. Further, the robot relies on the SEAs in eachjoint to estimate the force applied to the wrist 600 by the user; thatis, sensors in the SEAs measure the forces at the joints, and the robotcontroller 104 and/or computational facility 114 then use a kinematicmodel of the arm with a model of the mass distribution in each link tosubtract out the force due to gravity. The remaining force on each linkresults from the force applied by the user to the wrist 600. The robotcontroller 104 tries to make each of these remaining forces zero, thuscausing the robot to follow this user-applied force, providing nearlyzero-force push-back regardless how the user pushes on the endpoint ofthe arm 206. In other words, owing to the responsiveness of the robotcontroller 104 to applied force as long as the wrist cuff 600 is held bythe trainer, the arm 206 moves freely in response even to small forces,impeded merely by its inertia. Thus, the user may easily move the arm206 from place to place, e.g., for training purposes.

In some embodiments, grabbing the wrist cuff 600 causes the robot 200 toswitch not only into zero-force gravity-compensated mode, but also intotraining mode, where the robot 200 awaits and responds to input from theuser. The robot 200 will generally remain in training mode, regardlesswhether the user holds on to the cuff 600, until it receives an explicitcommand (e.g., via pushing of a button) to return to execution mode. Thetwo buttons 608, 610 on the wrist cuff 600 can be used in the trainingprocess, for example, to map out areas by clicking one of the buttons atdistinct points (e.g., the vertices of a polygon), to confirm correctvisual selection of an object, or to manually cause the gripper to openor close.

In some embodiments, the robot's arms 206 serve simultaneously as userinput and output devices during training: while the user guides the arm206 to show the robot 200 a particular trajectory or position, the arm206 may provide haptic feedback to the user. For example, the robot 200may be configured to detect impending self-collisions of its arm(s) withother parts of its body (such as its screen 212), and resist movement ofits arms in a manner that would result in such a collision. Thus, if auser guides a robot arm 206, perhaps inattentively, so that a collisionbecomes likely, he will feel push-back from the robot that starklycontrasts with the zero force he would ordinarily feel and, thus, alertshim of the problem. The resistive force exerted by the robot (andeffected, via the relevant joints, by commands sent thereto by robotcontroller 104) to avert self-collisions may be triggered once therobot's gripper, or another relevant point along the robot's arm, comeswithin a threshold distance of (i.e., a “protective zone” around) theother robot parts. The robot 200 may detect entry of the robot's arm 206into the protective zone based on its three-dimensional self-model,which continuously tracks the position, orientation, and velocity of allrobot parts computationally, using the robot's knowledge of the forcesapplied at the joints. Alternatively or additionally, the arm 206 may beequipped with suitable sensors (e.g., the range sensors 606 mounted intoits wrist 600) that allow direct distance measurements. The resistiveforce generated by the robot may increase as the distance of the armfrom other robot parts decreases. Further, it may depend on the velocity(i.e., the speed and direction) with which the robot appendage moves.For example, if the arm moves fast toward another robot part, theresistive force may be larger, whereas, if the arm moves at a lowerspeed and/or in a direction substantially parallel to the surface of theother robot part, the resistive force can be smaller.

The robot 200 is generally strong enough to stop an ordinary person fromcausing a collision (whether inadvertently or intentionally). Forinstance, a person cannot cause the robot 200 to poke itself in its eye(i.e., the LCD screen 212) with its finger(s). In fact, in someembodiments, the screen 212 is surrounded by a virtual protective spherewhose extent the user can feel by sliding the fingers over it andfeeling where the resistive forces start. Likewise, if the user istrying to move the gripper 208 to a place in the workspace where itwould cause the robot's elbow to collide with the body, he can feel aresistive force centered around the elbow. To provide a further example,in embodiments that allow a user to simultaneously guide two arms inzero-force mode, the user cannot make them collide with each other. Theresistive forces felt by the right arm depend on the location of theleft arm and vice versa; each arm is, thus, effectively surrounded by aforce field that moves about in space as the arm moves. This force fieldis implemented by commands sent by controller 104 to the appropriatejoint-level controllers 106 in response to the sensed conditions asdescribed above.

Haptic feedback may also be used to “annotate” certain places, objects,or robot actions with different “special effects” or “hapticsignatures,” i.e., distinct time-variable force patterns, such as aseries of clicks, or forces simulating movement over a rumble strip oracross sandpaper. Typically, a haptic signature involves robot-generatedforces that are significantly smaller in magnitude (e.g., by an order ofmagnitude or more) and vary at much higher rates than the forcesexternally applied by the user when guiding the arm; thus, the hapticsignature provides haptic cues to the user without interfering with theoverall motion of the arm.

Haptic signatures may be associated, for example, with certain locationsin space, and provide intuitive information to the user as she guidesthe arm 206 around. For example, to aid the user in centering therobot's gripper above a conveyor belt, the robot may signal the correctposition by giving the user the feeling of moving across sandpaper(without there being any physical contact between the robot's gripperand the conveyor belt). Haptic signatures may also be used to remind theuser of the types of actions trained at certain locations. For example,when the arm is moved over a put-down location, it may give the user asandpaper feel of a particular roughness, and when it is moved over apick-up location, it may jiggle up and down a little bit. Alternatively,when the pick-up location corresponds to an extended are (rather than apoint), that area may likewise be annotated with a sandpaper feel, butat a different roughness than that associated with the put-down area. Toprovide yet another example, when the arm is brought over a conveyorbelt, it may retain zero force in the direction of a two-dimensionalvector aligned with the conveyor, but require a little force to push itsideways relative to the conveyor and exit from that area. Hapticsignatures may also facilitate training. For example, when the userreturns the robot arm to a previous location, the arm may, as soon as itis in the vicinity of that location, “snap to” the location (similarlyas file icons snap to folders on a computer desktop), i.e., the robotmay apply a little force to move the arm to the location—while stillallowing the user to push back against the force if she wants to move toa different place.

In general, any environmental condition associated with a particularlocation and detectable by the robot—whether it be the location itself,the presence of a particular piece of equipment or type of object atthat location, motion or other action taking place at the location, or ameasurable parameter of the location (e.g., a height, pressure,etc.)—can be used to trigger a particular haptic signature when therobot's arm or gripper reaches the location, thus providing informationto the user that correlates directly with her guidance of the arm.Furthermore, a haptic signature may indicate an environmental conditionor state of the robot that is unrelated to the arm's location. Forexample, the robot may signal to the user, via a haptic signature, whenit detects a certain object in its field of view. Such feedback may be auseful supplement to other channels of communication (such as the LCDscreen 212) when the user is preoccupied with guiding the robot's arm206.

Furthermore, haptic signatures may be used to simulate an environmentand, thus, allow the user to train the robot even in the absence of theobjects, equipment, etc. to which the training pertains. For example, totrain the robot to put down (actual) objects on a virtual conveyor belt,the user may guide the robot through the motions of that task withouthaving the conveyor belt there during training, but relying, instead, onhaptic signatures indicating when the object would be above the conveyorbelt (e.g., by giving the user a sandpaper feel) or when the objectwould contact the conveyor belt (e.g., by exerting slight hapticpush-back). The robot, in other words, maintains internal canonicalrepresentations of different environments—here, a conveyorbelt—including the spatial locations of items normally found in theseenvironments, as well as physical characteristics of the items. At leastsome of these physical characteristics (e.g., surface texture) aretranslated into haptic signatures by the computational facility 114, andwhich are experienced by the user operating the robot in the selectedvirtual environment. In some embodiments, characteristics of theenvironment may be altered (from the default values) by the user via theuser interface.

To provide haptic feedback to the user, the robot may utilize the samehardware components as are employed to operate the robot arm 206 duringthe performance of useful work—such as the force-generating motors oractuators at the joints and the joint-level controllers 106 and robotcontroller 104 that drive them—in conjunction with a software hapticsmodule that computes the desired haptic forces (based on data received,e.g., from a self-collision detection module or a module monitoringenvironmental conditions) and provides appropriate commands to thecontrollers. Alternatively or additionally, haptic feedback, inparticular, the haptic signatures, may be enabled by dedicated hapticshardware, such as low-force actuators and associated controllersintegrated into the robot's wrist 600 and/or filters that modulatemotion of the gripper in accordance with the signature via the relevantjoint-level controllers 106.

The robot 200 described above is, of course, only one of many possiblerobot embodiments in accordance with the invention. Various componentsand features can be modified in manners that will be readily apparent topersons of skill in the art. For example, the robot may, generally, haveany number of arms (or, more generally, appendages), and each arm mayhave any number of degrees of freedom. The links of the arms need not bejoined by joints providing only one rotational degree of freedom, butmay, for example, include ball-and-socket joints that provide tworotational degrees of freedom and/or rail systems that facilitatetranslational motion. Further, instead of or in addition to grippers,the robot may have other types of end-effectors, e.g., tools (such as adrill, saw, etc.) or measuring devices (such as e.g., scales, gauges,etc.). Furthermore, some of the user interface components describedabove may be installed in different locations, or modified in theirstructural and functional details. Of course, the various user interfacecomponents need not all be used in each embodiment. Further, additionaltypes of input and output devices may be used to supplement theuser-interaction capabilities of the robot. For example, the robot mayinclude a speaker and/or microphone for audio communication.

As indicated with reference to FIG. 1, information exchange among therobot controller(s), sensors, and user interface is facilitated anddirected by a computational facility 114. The computational facility 114may employ a general-purpose computer, or any of a variety of otherprocessing devices, including, without limitation, special-purposecomputers, microcontrollers, application-specific integrated circuits(ASICs), field-programmable gate arrays (FPGAs), digital signalprocessors (DSPs), or programmable gate arrays (PGAs). In variousembodiments, combinations of multiple different processing devices areused. Furthermore, in some embodiments, the overall controlfunctionality is distributed between components physically integratedinto the robot, and external components in communication with the robot.

FIG. 7 illustrates an exemplary implementation of the computationalfacility 114 implemented on a general-purpose computer 700 including acentral processing unit (CPU) 702 (e.g., a quad-core Intel processor),system memory 704, and non-volatile mass storage devices (such as one ormore hard disks and/or optical storage units) 706. The computer 700further includes a bidirectional system bus 708 over which the CPU 702,memory 704, and storage devices 706 communicate with each other as wellas with internal or external input/output devices such as thejoint-level controllers 106 (which may, e.g., be ARM processors), screen118, cameras 110, navigators 232, wrist cuffs 600, touch pads 116, forcesensors 108, other types of sensors 112, and/or traditional inputdevices (e.g., a keyboard or a mouse) 709.

The system memory 704 contains instructions, conceptually illustrated asa group of modules, that control the operation of CPU 702 and itsinteraction with the other hardware components. The various modules maybe programmed in any suitable programming language, including, withoutlimitation, high-level languages such as C, C++, C#, Ada, Basic, Cobra,Fortran, Java, Lisp, Perl, Python, Ruby, or Object Pascal, or low-levelassembly languages; in some embodiments, different modules areprogrammed in different languages. The modules may include an operatingsystem 710 (e.g., Gentoo Linux) that directs the execution of low-level,basic system functions such as memory allocation, file management andoperation of mass storage devices 706. At a higher level, one or moreservice applications may implement the robot controller 104, animage-processing module 712 for analyzing the camera images, asensor-monitoring module 714 for reading sensor values (including thoseof the force sensors 708 at the joints) and checking their consistencyand/or plausibility, a user-input module 516 for interpreting user inputvia the various mechanical control elements and switching betweentraining and execution mode, a user-output module 718 for controllingthe LCD screen and various indicator lights, a collision andself-collision detection module 720, a haptics module 722 for computingthe force feedback provided to the user via the robot appendage(s), andtraining and execution modules 122, 120 that govern the robot's overallbehavior in training and execution mode, respectively. Of course, thevarious functionalities may be grouped and organized in many alternativeways.

To facilitate task-centered training via simple, intuitive userinteractions, the computer 700 may store, in system memory 704 orstorage device 706, a library of prototypes for elementary tasks (suchas picking up or putting down an object) and associated objects (such asa type of widgets to be picked up) and places (such as a conveyor belt).During training, the training module 122 instantiates and populatesthese prototypes based on user and sensory input. For example, when auser has positioned the robot gripper above or around a certain objectand pushed a button to indicate that she wants the robot to pick up theobject, the training module 122 may create an instance of a pick-upprototype and associated place and object prototypes. Then, the robotmay take an image of the object with its wrist camera 216, analyze theimage with its image-processing module 712 to extract relevant visualcharacteristics, populate the object instance with these visualcharacteristics, record the gripper's current location to populate thelocation instance, close its gripper until its force sensors detectresistance, and store the associated distance between its fingers (andany other relevant information) in the pick-up instance. The variouspopulated instances are then stored (in memory 704 or on a storagedevice 706) for subsequent use. At a later time, when the robot operatesin execution mode, the task execution module 120 may return the gripperto the stored pick-up location, monitor that location for objectsmatching the stored visual characteristics, and, once the robot seessuch an object, execute the pick-up instance. Thus, the robot is able tocarry out previously trained tasks independently based on currentsensory information. More detail about prototypes, instances, and theinterplay between the training and task-execution modules 122, 120 isprovided in U.S. Provisional Patent Application No. 61/662,646, filed onJun. 21, 2012.

The above example illustrates how the user interface described herein,in conjunction with suitable computational functionality, allows a userto train the robot similarly as she would train another human: byshowing the robot what to do and how to do it, using visual input anddirect mechanical interaction. To interpret the user's input correctlyand respond in a manner as the average user would expect, the robotrelies on pre-programmed assumptions about the meaning of the user'sactions. These assumptions are, preferably, based on common,statistically applicable human behaviors. Of course, due to the natureof human behavior, the assumptions do not hold for every user under allcircumstances. Accordingly, the robot allows a user to override thedefaults by providing input at a deeper level, for example, viatraditional user menus. In some embodiments, the robot acts based on thedefault assumptions unless and until the user actively interrupts it,e.g., by grabbing the robot's gripper in mid-action or by pushing abutton designated for causing the robot to stop its current action.Alternatively, the robot may, in response to initial user input, pausefor a specified time, and then proceed with the default unless the userhas provided additional information in the meantime. In otherembodiments, the robot explicitly solicits user confirmation of thedefault, or alternative instructions. For example, if the user orientsthe robot's wrist camera so as view an object on a working surface andpushes a button on the wrist cuff 600, the robot may respond bydisplaying on the screen the question “Pick up object?” If the useranswers in the affirmative (e.g., by pushing the button again), therobot proceeds to lower its gripper and pick up the object. Otherwise,the robot may present a selection of alternative tasks (including, e.g.,the task of generating a visual model of the object) for the user tochoose from.

As the user gets into deeper levels of interaction, the technicalknowledge required of him generally increases. In fact, to accommodate atraditional robot trainer with a high level of technical expertise and adesire to precisely control the robot's actions in detail, the robot mayprovide an alternative “expert” interface that circumvents the simpler,more intuitive user interface. In preferred embodiments, the user maychoose among various levels at which she can interact with the robot,where each level requires a different amount of detail provided by theuser, and the robot supplies the remaining information (if any) based onits pre-programmed defaults. Consider, for example, a traininginteraction in which the robot learns how to pick up a particularobject. The robot may, by default, lower its gripper (with its fingerssurrounding the object) until it is within a specified small distance(e.g., 1 cm) from the working surface (as measured, e.g., with the rangesensor built into the wrist), and then close the gripper around theobject until it measures a specified push-back force from the object.The robot may then attempt to lift the object; if the operation issuccessful, it records the magnitude of the push-back force in theassociated pick-up instance, and if the object remains on the workingsurface when the gripper is lifted, the robot repeats its attempt with ahigher force. This way, the robot can iteratively determine theappropriate force for lifting and holding the object. Instead of lettingthe robot figure out the relevant parameters itself, however, the usermay decide to enter some or all of them directly. In certain instances,for example, the user may want to alter the height of the robot gripperabove the working surface during pick-up. Further, the user may alreadyknow the optimal force applied to the object to hold and lift it (e.g.,from previous experience), and may, therefore, simply enter this force,circumventing the need for trial and error by the robot. Differenttraining levels reflect different amounts of information entered by theuser to replace default values, with more “expert” levels correspondingto greater user input and less reliance on the defaults.

The terms and expressions employed herein are used as terms andexpressions of description and not of limitation, and there is nointention, in the use of such terms and expressions, of excluding anyequivalents of the features shown and described or portions thereof. Inaddition, having described certain embodiments of the invention, it willbe apparent to those of ordinary skill in the art that other embodimentsincorporating the concepts disclosed herein may be used withoutdeparting from the spirit and scope of the invention. In particular,embodiments of the invention need not include all of the features orhave all of the advantages described herein. Rather, they may possessany subset or combination of features and advantages. Accordingly, thedescribed embodiments are to be considered in all respects as onlyillustrative and not restrictive.

What is claimed is:
 1. A robot comprising: at least one user-guidablerobot appendage for manipulating objects, the at least one appendagecomprising at least one movable joint; a haptics module for generatingforces at the at least one joint, the haptics module being configured toat least partially resist user-guiding of the at least one appendagewithin a specified spatial zone around other parts of the robot so as toprevent collisions between the appendage and the other parts of therobot.
 2. The robot of claim 1, wherein the forces depend on a distancebetween the appendage and the other parts of the robot.
 3. The robot ofclaim 2, wherein the forces further depend on at least one of adirection of motion or a speed of the appendage.
 4. The robot of claim3, wherein the forces increase as the appendage moves closer to theother parts of the robot.
 5. The robot of claim 2, wherein the forcesvary linearly with distance.
 6. The robot of claim 2, wherein the forcesvary non-linearly with distance.
 7. A robot comprising: at least oneuser-guidable robot appendage comprising an end-effector formanipulating objects; a haptics module for generating forces at theend-effector; and a control system for monitoring a real or simulatedenvironment for presence of at least one environmental condition havinga respective haptic signature associated therewith, the haptic signaturecomprising data specifying a time-variable force pattern, wherein thecontrol system, in response to detection of one of the at least oneenvironmental condition, causes the haptics module to generate atime-varying force in accordance with the haptic signature associatedwith the detected environmental condition.
 8. The robot of claim 7,further comprising a training module configured to associate the atleast one haptic signature with the at least one respectiveenvironmental condition.
 9. The robot of claim 7, wherein the at leastone environmental condition comprises at least one of presence of therobot at a specified location or presence of a specified object in afield of view of a robot camera.